jr3_driver.cpp File Reference

#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <errno.h>
#include <string.h>
#include <sys/time.h>
#include <sys/neutrino.h>
#include <sys/iofunc.h>
#include <sys/dispatch.h>
#include <sys/mman.h>
#include <hw/pci.h>
#include "QNX101/jr3pci3.idm"

Include dependency graph for jr3_driver.cpp:

Go to the source code of this file.

Classes
struct	error_bits
struct	force_array
struct	force_sensor_data
struct	le_struct
struct	links
struct	raw_channel
struct	server_msg_t
struct	six_axis_array
struct	thresh_struct
struct	transform
struct	vect_bits
struct	warning_bits
Defines
#define	DEVICEID   0x3112 /* for 2ch board */
#define	Jr3DmAddrMask   0x6000
#define	Jr3NoAddrMask   0x40000
#define	Jr3ResetAddr   0x18000
#define	min(a, b)   ((a) < (b) ? (a) : (b))
#define	ReadJr3(addr)   (ReadJr3Dm((addr) | Jr3DmAddrMask))
#define	ReadJr3Dm(addr)   (*(uint16_t volatile *)(ToJr3PciAddrH((addr))))
#define	ReadJr3Pm(addr)
#define	ToJr3PciAddrH(addr)   (((int)(addr) << 2) + Jr3BaseAddressH)
#define	ToJr3PciAddrL(addr)   (((int)(addr) << 2) + Jr3BaseAddressL)
#define	VENDORID   0x1762 /* Vendor ID of JR3 */
#define	WriteJr3(addr, data)   WriteJr3Dm((addr) | Jr3DmAddrMask,data)
#define	WriteJr3Dm(addr, data)   *(int volatile *)(ToJr3PciAddrH((addr))) = (int)(data)
#define	WriteJr3Pm(addr, data)   WriteJr3Pm2((addr),(data) >> 8, (data))
#define	WriteJr3Pm2(addr, data, data2)   (*(int volatile *)ToJr3PciAddrH((addr)) = (int)(data));(*(int volatile *)ToJr3PciAddrL((addr)) = (int)(data2))
Enumerations
enum	force_units {   lbs_in_lbs_mils, N_dNm_mm10, kgf10_kgFcm_mm10, klbs_kin_lbs_mils,   reserved_units_4, reserved_units_5, reserved_units_6, reserved_units_7 }
enum	link_types {   end_x_form, tx, ty, tz,   rx, ry, rz, neg }
Functions
int	download (unsigned int base0, unsigned int base1)
void	get_force_sensor_info (force_sensor_data *data, char *msg)
int	io_read (resmgr_context_t *ctp, io_read_t *msg, RESMGR_OCB_T *ocb)
int	main (int argc, char **argv)
int	message_callback (message_context_t *ctp, int type, unsigned flags, void *handle)
void	wait_t (void)
Variables
static char *	buffer = "Hello world\n"
static resmgr_connect_funcs_t	ConnectFuncs
char *	force_units_str []
static iofunc_attr_t	IoFuncAttr
static resmgr_io_funcs_t	IoFuncs
volatile uint32_t	Jr3BaseAddress0H
volatile uint32_t	Jr3BaseAddress0L
volatile uint32_t	Jr3BaseAddress1H
volatile uint32_t	Jr3BaseAddress1L
volatile uint32_t	Jr3BaseAddressH
volatile uint32_t	Jr3BaseAddressL
unsigned long	MappedAddress

---

Define Documentation

#define DEVICEID   0x3112 /* for 2ch board */

Definition at line 34 of file jr3_driver.cpp.

#define Jr3DmAddrMask   0x6000

Definition at line 39 of file jr3_driver.cpp.

#define Jr3NoAddrMask   0x40000

Definition at line 38 of file jr3_driver.cpp.

#define Jr3ResetAddr   0x18000

Definition at line 37 of file jr3_driver.cpp.

#define min	(		a,
			b
	)		((a) < (b) ? (a) : (b))

Definition at line 22 of file jr3_driver.cpp.

#define ReadJr3

(

addr

)

(ReadJr3Dm((addr) | Jr3DmAddrMask))

Definition at line 61 of file jr3_driver.cpp.

#define ReadJr3Dm

(

addr

)

(*(uint16_t volatile *)(ToJr3PciAddrH((addr))))

Definition at line 57 of file jr3_driver.cpp.

#define ReadJr3Pm

(

addr

)

Value:

(*(uint16_t volatile *)(ToJr3PciAddrH((addr))) << 8 |\
                                 *(uint8_t  volatile *)(ToJr3PciAddrL((addr))))

Definition at line 47 of file jr3_driver.cpp.

#define ToJr3PciAddrH

(

addr

)

(((int)(addr) << 2) + Jr3BaseAddressH)

Definition at line 43 of file jr3_driver.cpp.

#define ToJr3PciAddrL

(

addr

)

(((int)(addr) << 2) + Jr3BaseAddressL)

Definition at line 44 of file jr3_driver.cpp.

#define VENDORID   0x1762 /* Vendor ID of JR3 */

Definition at line 31 of file jr3_driver.cpp.

#define WriteJr3	(		addr,
			data
	)		WriteJr3Dm((addr) | Jr3DmAddrMask,data)

Definition at line 62 of file jr3_driver.cpp.

#define WriteJr3Dm	(		addr,
			data
	)		*(int volatile *)(ToJr3PciAddrH((addr))) = (int)(data)

Definition at line 58 of file jr3_driver.cpp.

#define WriteJr3Pm	(		addr,
			data
	)		WriteJr3Pm2((addr),(data) >> 8, (data))

Definition at line 54 of file jr3_driver.cpp.

#define WriteJr3Pm2	(		addr,
			data,
			data2
	)		(*(int volatile *)ToJr3PciAddrH((addr)) = (int)(data));(*(int volatile *)ToJr3PciAddrL((addr)) = (int)(data2))

Definition at line 50 of file jr3_driver.cpp.

---

Enumeration Type Documentation

enum force_units

Enumerator:

lbs_in_lbs_mils
N_dNm_mm10
kgf10_kgFcm_mm10
klbs_kin_lbs_mils
reserved_units_4
reserved_units_5
reserved_units_6
reserved_units_7

Definition at line 183 of file jr3_driver.cpp.

enum link_types

Enumerator:

end_x_form
tx
ty
tz
rx
ry
rz
neg

Definition at line 218 of file jr3_driver.cpp.

---

Function Documentation

int download	(	unsigned int	base0,
		unsigned int	base1
	)

Definition at line 349 of file jr3_driver.cpp.

void get_force_sensor_info	(	force_sensor_data *	data,
		char *	msg
	)

Definition at line 420 of file jr3_driver.cpp.

int io_read	(	resmgr_context_t *	ctp,
		io_read_t *	msg,
		RESMGR_OCB_T *	ocb
	)

Definition at line 697 of file jr3_driver.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 538 of file jr3_driver.cpp.

int message_callback	(	message_context_t *	ctp,
		int	type,
		unsigned	flags,
		void *	handle
	)

Definition at line 465 of file jr3_driver.cpp.

void wait_t

(

void

)

Definition at line 757 of file jr3_driver.cpp.

---

Variable Documentation

char* buffer = "Hello world\n" [static]

Definition at line 25 of file jr3_driver.cpp.

resmgr_connect_funcs_t ConnectFuncs [static]

Definition at line 65 of file jr3_driver.cpp.

char* force_units_str[]

Initial value:

  { (char *) "pound, inch*pound, inch*1000",
(char *) "Newton, Newton*meter*10, mm*10", (char *) "kilogram-force*10, kilogram-Force*cm, mm*10",
(char *) "kilopound, kiloinch*pound, inch*1000" }

Definition at line 178 of file jr3_driver.cpp.

iofunc_attr_t IoFuncAttr [static]

Definition at line 67 of file jr3_driver.cpp.

resmgr_io_funcs_t IoFuncs [static]

Definition at line 66 of file jr3_driver.cpp.

volatile uint32_t Jr3BaseAddress0H

Definition at line 72 of file jr3_driver.cpp.

volatile uint32_t Jr3BaseAddress0L

Definition at line 73 of file jr3_driver.cpp.

volatile uint32_t Jr3BaseAddress1H

Definition at line 74 of file jr3_driver.cpp.

volatile uint32_t Jr3BaseAddress1L

Definition at line 75 of file jr3_driver.cpp.

volatile uint32_t Jr3BaseAddressH

Definition at line 70 of file jr3_driver.cpp.

volatile uint32_t Jr3BaseAddressL

Definition at line 71 of file jr3_driver.cpp.

unsigned long MappedAddress

Definition at line 40 of file jr3_driver.cpp.